Robotic training apparatus

ABSTRACT

A robotic training apparatus for martial arts and combat sports that is of a dimension like a punching bag and can be hung or mounted on a floor. The apparatus includes a frame, an upper revolving member and a lower revolving member mounted to the frame, wherein the two members can revolve independently of each other along a vertical axis. A pair of robotic arms coupe to the upper revolving member can be actuated to resemble a punching action. A pair of robotic legs coupled to the lower revolving member can be actuated to resemble a kicking action. Both the pair of robotic arms and the pair of robotic legs horizontally extend from the upper revolving member and the lower revolving member respectively.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit and is a 371 National Phase patentapplication of the PCT application serial number PCT/IB 22/55807, filedon Jun. 22, 2022, which, the disclosures of which are herebyincorporated by reference in its entirety.

FIELD OF INVENTION

The present invention relates to a punching bag, and more particularly,the present invention relates to a robotic punching bag.

BACKGROUND

A punching bag is a popular training aid in martial arts and combatsports to learn and improvise punching, kicking, and similar strikingmaneuvers. The punching bag is typically a durable long cylindrical baghung from a ceiling or any vertical support. The bag can be filled withmaterials of variable thickness, such as sand. The choice of fillingmaterial may depend upon the desired sturdiness of the punching bag andtype of training. The bag is freely hung and can take repeated andconstant strikes. However, the effectiveness of known punching bags islimited. The punching bags are inanimate and the only movement in apunching bag is back and forth by the impacts, which is anticipated bythe trainee. Thus, a need is appreciated for a novel punching bag thathas all the advantages of a known punching bag but is devoid of thedrawbacks or shortcomings of the known punching bags.

Hereinafter, the terms “trainee” and “user” are interchangeably used andrefer to a person practicing/training or wish to practice/train with therobotic training apparatus.

SUMMARY OF THE INVENTION

The following presents a simplified summary of one or more embodimentsof the present invention to provide a basic understanding of suchembodiments. This summary is not an extensive overview of allcontemplated embodiments and is intended to neither identify criticalelements of all embodiments nor delineate the scope of any or allembodiments. Its sole purpose is to present some concepts of one or moreembodiments in a simplified form as a prelude to the more detaileddescription that is presented later.

The principal object of the present invention is therefore directed to arobotic training apparatus that allows trainees to improve theirdefensive skills.

It is another object of the present invention that the robotic trainingapparatus aids in improving combat skills.

It is still another object of the present invention that the robotictraining apparatus helps to learn new combat techniques.

It is yet another object of the present invention that the performanceof the trainee overtime can be evaluated.

It is still a further object of the present invention that the robotictraining apparatus can provide personalized or customized training.

It is yet a further object of the present invention that a user ortrainee can train in the absence of a coach.

It is an additional object of the present invention that the robotictraining apparatus can be adjusted in height.

It is still an additional object of the present invention that therobotic training apparatus is economical to manufacture.

In one aspect, disclosed is a robotic training apparatus comprising: acontrol unit; a robotic trainer, the robotic trainer comprising: anupstanding frame, a pair of robotic arms, each robotic arm of the pairof robotic arms comprises: one or more extension members, a strikingmember operably coupled to a terminal extension member of the one ormore extension members, and a plurality of joints operably couplingextension members of the one or more extension members, the terminalextension member, and the striking member, and an actuation mechanismfor actuating the robotic trainer, the actuation mechanism operablycoupled to the control unit, wherein the control unit is configured topresent training material from a library of training materials on adisplay coupled to the control unit and implement the training materialon the robotic trainer by the actuation mechanism; and a plurality ofsensors operably coupled to the control unit. The striking member isprovided with cushioning pads. The actuation mechanism comprises steppermotors coupled to each joint of the plurality of joints.

In one implementation, the plurality of sensors comprises user sensors,the user sensors configured to be worn by a user practicing with therobotic training apparatus, wherein the control unit is configured todetect spatial body movements of the user through the user sensors foran interactive training session. The plurality of sensors furthercomprises environmental sensors configured to detect an immediateenvironment of the robotic trainer, the environmental sensors compriseone or more cameras and one or more infrared sensors or ultrasonicsensors. The control unit is configured to analyze data from one or morecameras using image recognition algorithms to track changes inprojection of the user and the robotic trainer in a three-dimensionalspace. The control unit is configured to generate a virtual environmentfor the user based on the analyzed data. The environmental sensorsfurther comprise pressure sensors mounted on the floor and configured todetect footsteps of the user. The robotic trainer further comprises amovable base, the movable base configured to allow the robotic trainerto move on a floor. The control unit is further configured to remotelycouple to another second robotic training apparatus for remote sparringbetween two users, the another second robotic training apparatus same asthe robotic training apparatus.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying figures, which are incorporated herein, form part ofthe specification and illustrate embodiments of the present invention.Together with the description, the figures further explain theprinciples of the present invention and enable a person skilled in therelevant arts to make and use the invention.

FIG. 1 is a perspective view of a robotic training apparatus forpunching and kicking practice, according to an exemplary embodiment ofthe present invention.

FIG. 2 is a block diagram showing an exemplary embodiment of the robotictraining apparatus according to the present invention.

FIG. 3 is a perspective view of another exemplary embodiment of therobotic training apparatus for punching practice, according to thepresent invention.

FIG. 4 shows the robotic training apparatus as in FIG. 3 without coverillustrating the pads, according to an exemplary embodiment of thepresent invention.

FIG. 5 shows the robotic training apparatus as in FIG. 3 without coverillustrating the pads according to an exemplary embodiment of thepresent invention.

FIG. 6 shows the robotic training apparatus having the paddings removedto illustrate the frame, according to an exemplary embodiment of thepresent invention.

FIG. 7 is a block showing an architecture of the apparatus, according toan exemplary embodiment of the present invention.

FIG. 8 shows an upper portion of a robotic training apparatus, accordingto an exemplary embodiment of the present invention.

FIG. 9 shows another perspective view of the upper portion of therobotic training apparatus shown in FIG. 7 , according to an exemplaryembodiment of the present invention.

FIG. 10 shows another perspective view of the upper portion of therobotic training apparatus shown in FIG. 7 , according to an exemplaryembodiment of the present invention.

DETAILED DESCRIPTION

Subject matter will now be described more fully hereinafter withreference to the accompanying drawings, which form a part hereof, andwhich show, by way of illustration, specific exemplary embodiments.Subject matter may, however, be embodied in a variety of different formsand, therefore, covered or claimed subject matter is intended to beconstrued as not being limited to any exemplary embodiments set forthherein; exemplary embodiments are provided merely to be illustrative.Likewise, the reasonably broad scope for claimed or covered subjectmatter is intended. Among other things, for example, the subject mattermay be embodied as methods, devices, components, or systems. Thefollowing detailed description is, therefore, not intended to be takenin a limiting sense.

The word “exemplary” is used herein to mean “serving as an example,instance, or illustration.” Any embodiment described herein as“exemplary” is not necessarily to be construed as preferred oradvantageous over other embodiments. Likewise, the term “embodiments ofthe present invention” does not require that all embodiments of theinvention include the discussed feature, advantage, or mode ofoperation.

The terminology used herein is to describe particular embodiments onlyand is not intended to be limiting of embodiments of the invention. Asused herein, the singular forms “a”, “an”, and “the” are intended toinclude the plural forms as well, unless the context indicatesotherwise. It will be further understood that the terms “comprises”,“comprising,”, “includes” and/or “including”, when used herein, specifythe presence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

The following detailed description includes the best currentlycontemplated mode or modes of carrying out exemplary embodiments of theinvention. The description is not to be taken in a limiting sense but ismade merely to illustrate the general principles of the invention sincethe scope of the invention will be best defined by the allowed claims ofany resulting patent.

Disclosed is a robotic training apparatus that can be used by a traineeto learn and improvise combat skills and new techniques. The disclosedrobotic training apparatus can be used to practice kicking, punching,and other striking skills. Particularly, the disclosed robotic trainingapparatus can allow learning defensive skills without the need of acoach or a partner. The users/trainees can switch between differenttraining programs according to their needs, timings, schedules, anddesires. The robotic training apparatus can be economical and versatilein that pro-athletes and ordinary people can use it. The same apparatuscan be adjusted for users/trainees of different ages by increasing ordecreasing the height of the apparatus. The disclosed apparatus canimitate the fighting styles or movements of different fighters inthrowing punches and/or kicks. The robotic training apparatus can be ofdimensions like a standard punching bag that can be hung at differentheights. Moreover, a frame can be used to sandwich the robotic trainingapparatus between the top and bottom, for mounting the apparatus on afloor. The robotic training apparatus can interact with the trainee bytracking his movements. The disclosed robotic training apparatus cantrack the training schedule, progress, errors in techniques,improvements, tricks, and tips to improvise the skills and techniques,and others. The disclosed robotic training apparatus can be made foreither punching practice or both punching and kicking practice, and bothaspects are within the scope of the present invention.

Referring to FIG. 1 , which shows one exemplary embodiment of therobotic training apparatus 100 of dimensions like a standard punchingbag. The robotic training apparatus can be mounted to a floor, hung froma ceiling, or mounted to a horizontal support/frame/stand. The robotictraining apparatus 100 can include a base 105 and head 110. The base 105can support the robotic training apparatus 100 mounted on a floor andthe head 110 can support the robotic training apparatus 100 hung fromthe horizontal support or ceiling. The robotic training apparatus 100can include a pair of robotic arms 115 and a pair of robotic legs 120.Both the pair of robotic arms and the pair of robotic legs extendhorizontally and outwardly from an upstanding body 125 of the robotictraining apparatus 100. The body 125 can be upstanding between the base105 and the head 110. The body 125 of the robotic training apparatus 100can include an upper revolving member 130 at the top and a lowerrevolving member 135 at the bottom, those can revolve along a centralvertical axis of the robotic training apparatus 100. The pair of roboticarms can extend outwardly and horizontally from the upper revolvingmember 130 and the pair of robotic legs extend outwardly andhorizontally from the lower revolving member 135. The pair of roboticarms 115 can be fixedly coupled to the upper revolving member 130 androtate with the upper revolving member 130. The pair of robotic legs 120can be fixedly coupled to the lower revolving member 135. Each roboticarm of the pair of robotic arms can include an upper extension member140 and an upper striking member 145. The upper extension member 140 canbe coupled to the upper striking member 145 through a pivoting joint,such as the upper striking member can rotate with the upper extensionmember and further pivots in a direction of the rotation of the upperextension member. In one exemplary embodiment, the upper extensionmember and the upper striking member can rotate in the same plane. Therotation of the upper revolving member and thus the upper extensionmember and further pivoting of the upper striking member relative to theupper extension member resembles a punching-like action. The upperstriking member can be provided with suitable cushioning member 150 thatcan absorb the impact of the hand and prevent injury to the hands. It isunderstood that more than one upper extension member can form therobotic arm and multiple joints can join the more than one upperextension member. More than one upper extension member can be ofdifferent lengths. The joints can be articulating joints that can havemore than one freedom of axis. Each robotic arm of the pair of roboticarms by using multiple extension members and joints can have multipledegrees of freedom.

Similarly, each robotic leg of the pair of robotic legs 120 can have alower extension member 155 that extends from the lower revolving member135. To another end of the lower extension member 155 can be coupledwith a lower striking member 160 that can pivot up and down in alongitudinal plane. The lower extension member 155 can be rotatedclockwise and anticlockwise in the traverse plain by the lower revolvingmember 135. The lower extension member 155 can in turn rotate the lowerstriking member 160 which can additionally pivot up and downsimultaneously with rotation. The rotating and pivoting movements of thelower striking member 160 can resemble a kicking-like action in combatsports. The lower striking member 160 can be provided with a lowercushioning member 165 to absorb the impacts of kicks and to prevent anyinjury to the leg of the user. It is understood that more than one lowerextension member can be incorporated, and the multiple lower extensionmembers can be joined by multiple joints for multiple degrees offreedom.

A lifting mechanism 170 can mount the upper revolving member 130 and thelower revolving member 135 to the head 110 and the base 105respectively. The upper revolving member 130 and the lower revolvingmember 135 can move up and down independent of each other. For example,the lower revolving member 135 can move upwards while the upperrevolving member 130 can remain stationary. Similarly, the only upperrevolving member 130 can move upwards while the lower revolving member135 remains stationary. In one case, the upper revolving member 130 andthe lower revolving member 135 can move up and down in oppositedirections. It is to be noted that the movements of the striking membersof the pair of robotic arms and the pair of robotic legs are independenti.e., the upper striking members of the pair of robotic arms can moveindependently from each other. Similarly, the lower striking members ofthe pair of robotic legs can move independently from each other. Therotation of the lower revolving member can be independent of therotation of the upper revolving member. In one exemplary embodiment, thebody 125 can be filled with granular material like a punching bag,wherein the user can strike on the body 125 with his hands and legs forpracticing like the practicing with a sand-filled punching bag.Alternative to the sand-filled punching bag can be cushion paddingincorporated on the body or the frame that can be punched and/or kickedfor practicing.

Referring to FIG. 2 , the disclosed robotic training apparatus 100 caninclude an actuation mechanism 210 that can include motors, liftingmechanism 170, shaft, and the like to move the different componentsincluding the upper revolving member, the lower revolving member, andthe striking members. In one case, each joint of the robotic arm and therobotic leg can be actuated independently to simulate different combattechniques and patterns. A solid frame made from a durable material,such as metals can form a skeleton of the robotic training apparatus100. The robotic training apparatus 100 can further include a controlunit 220 that can control the functioning and movements of differentcomponents of the robotic training apparatus 100. The control unit 220can include suitable network circuitry for wired or wireless connectionwith an external computing device 240. Control unit 220 can receivevarious instructions, programs, and configurations from an externalcomputing device 240. The control unit can also be coupled to a remotecontrol 250, such as a game controller. The control unit 220 can alsosend data to the external computing device 240, such as the data sensedby the sensors 230. It is understood that FIG. 2 shows only one externalcomputing device; however, the control unit can communicate with morethan one external computing device. The control unit 220 can includeappropriate software that allows different training modes to choosefrom. The software and multiple actuators can make complex punchingmotions, such as hooks, jabs, crosses, uppercuts, and similar techniquesknown in the art of combat sports. Similarly, the lower revolving memberand the strike members of the pair of robotic legs can make complexkicking motions.

The external computing device can also be provided with applicationsoftware that can be installed in the external computing device. Forexample, the external computing device can be a smartphone, laptop,desktop, tablet computer, and the like. The application software can bemade available through a distribution service provider, for example,Google PIay™ operated and developed by Google, the app store by Apple™,Microsoft store by Microsoft™ In addition to the application software, awebsite-based interface can also be provided through the world-wide-web.The application software can also be provided for the desktopenvironment, such as Windows™, Linux, and macOS. The applicationsoftware can also be provided in a distribution media, such as a memorystick or compact disk. The application software on the externalcomputing device can provide an interface for interacting with therobotic training apparatus. It is understood that robotic trainingapparatus can simultaneously connect with more than one externalcomputing device. The control unit 220 can also include networkcircuitry for connecting to an external network, such as a wireless orwired network for connecting to external computing devices. Theapplication software on the external computing device can provide aninterface for the user to interact with the robotic training apparatus.Through the interface, the user can view instructions, videos, and likecontent for the training. Live sessions can also be conducted throughinterface with professionals and coaches remotely. The user can alsoview recorded training sessions. In certain implementations, the usercan watch a video of the combat technique and physically practice thesame technique with the robotic training apparatus. The robotic trainingapparatus can also annotate the training video to emphasize the areasbased on the physical practice with the user, the areas in which thetrainee needs to improvise more. FIG. 2 shows an external computingdevice; however, a display can be connected to the disclosed apparatus,wherein the functions described above for the external computing devicecan be performed by the disclosed apparatus.

In certain embodiments, the disclosed methods can provide for a libraryof training videos and like training material that the user can accessusing the disclosed apparatus or an external computing device. Thecontrol unit can download instructions associated with these videos onthe library for the robotic training apparatus to implement by theactuation mechanism. The library can include training materials fromelite fighters and coaches around the world, thus all the trainingmaterial can be provided at one place for reference. Many of thetraining material can be implemented by robotic training devices. Thetraining material can be hosted on a central server, such as cloudserver. The trainers can have dedicated channels for organizing thevideos and presenting the content in a strategic manner to the trainees.For example, for the beginners, intermediate, levels, professionals, andadvanced levels. The training material implemented by the robotictraining apparatus can allow user both to strike and defend. Besides thetraining material, disclosed robotic training apparatus can also be usedby the trainee to practice their offensive skills, defensive skills, andcountering skills, wherein the techniques of the trainee can be storedin the system. It is to be noted that the trainee's own techniques canbe interpreted by the robotic training apparatus and further refined andimprovised based on the training reference materials and then stored.The same can be used for sharpening or improvising the skills by thetrainee. It is to be noted that the training material can be accessed bya trainee independent of the robotic trainer, for example through amobile application on a user device of the trainee.

In certain implementations, disclosed are the method for providing avirtual experience of being in a fitness classroom, getting trained bythe best in business and without the time commitment to specific gymhours to get in shape or if one has limited budget.

It is important that the training material can be implemented by thedisclosed robotic training apparatus for allowing a user to practicallylearn and practice. The robotic training apparatus can be programmed forthe different techniques provided in the training material. The user canchoose a program and practice their offensive and defensive skills withthe disclosed robotic training apparatus.

In certain embodiments, different sensors 230 can be provided that candetect and measure power, hand velocity and force, accuracy, and likeparameters known to a skilled person for evaluating the combat training.Some of the sensors can be coupled to the body of the robotic trainingapparatus, such as arms and legs of the robotic training apparatus. Someof the sensors can be worn by the user while working with the robotictraining apparatus. Some of the sensors can be applied to the immediateenvironment of the robotic training apparatus. For example, sensors canbe provided on the legs, foot, gloves, arms, and like places on the useror accessories worn by the user. The accessories can be in the form of aneckband, headband, helmet, gloves, shoes, necklace, rings, watch, andthe like that can be worn comfortably by the trainee. Sensors can beRFID sensors, proximity sensors, motion sensors, and like such that therobotic training apparatus can know the spatial location and movementsof the body parts, including the upper and lower limbs of the trainee.It is especially useful for the trainee to check the performance after atraining session, by using different sensors, data can be presented atthe end of the workout to help the trainee evolve after each trainingsession such as power, punches count, speed, and accuracy. The sensorsfor the environment can include a high-resolution camera, ultrasonicsensors, and/or infrared sensors to accurately sense and detect thefighter's movements. These sensors can be mounted in close proximity tothe disclosed robotic training apparatus, allowing for accuratedetection of motion, distance, and angle. The camera and other sensorscan be connected to the control unit through a wired or wirelessconnection, wherein data collected by the sensors can be received by thecontrol unit. The environmental sensors may also include pressure sensormounted on a floor to detect movement and force of the steps of theuser.

FIG. 7 is a block diagram showing an exemplary embodiment of theapparatus and further illustrating the control unit. The control unit220 is show separately from the training robot, however, the controlunit can be internal, or external to the body to the robotic trainingapparatus. Moreover, part of the control unit can be implemented withinthe body of the robotic training apparatus while other parts can beimplemented in an external form. The control unit 220 can includeprocessor 700, a network circuitry 710, and a memory 720. The networkcircuitry may allow the robotic training apparatus to connect withexternal networks 730. Also, shown in a display 740 connected to thecontrol unit 220. It is understood, that different input means, such askeyboard, and output means, such as speakers can also be coupled to thecontrol unit.

To achieve real-time responsiveness, the control unit can be equippedwith specialized processors such as Field Programmable Gate Arrays(FPGAs) or Digital Signal Processors (DSPs). These hardware componentscan improve the speed and accuracy of image processing, making itpossible to recognize and respond to even the fastest fighter movementsin real-time. The use of FPGAs and DSPs can also lower the cost of theoverall system compared to traditional CPUs.

The memory can include advanced algorithms for detecting and identifyingdifferent fighter movements and strikes such as jabs, hooks, uppercuts,crosses, leg kicks, and various other fighting motions. The algorithmscan be customized for different fighting styles, such as Muay Thai,boxing, kickboxing, and mixed martial arts (MMA). The control unit canalso be equipped with a machine learning model trained with a library ofthousands of real live fights and training sessions, which may enable itto recognize and identify different types of motions with high accuracy.

The control unit can provide near-real time and post training sessionfeedback to the user. Post-fight analysis can provide helpfulsuggestions for improving the fighter's technique and overallperformance. The control unit can analyze the fighter's movements andprovide feedback on areas where improvements can be made. This can beaccomplished by comparing the fighter's movements to a library ofcorrect movements or through machine learning models that can recognizepatterns in the fighter's movements.

The data captured by the sensors and camera can be displayed on auser-friendly interface such as a tablet, phone, or screen coupled tothe control unit or can be displayed to the display. This may enable thetrainee to review their training sessions and monitor their progressover time. The interface can include a live view of the trainee'smovements and the robotic training apparatus's response, as well asreal-time feedback on the fighter's technique and performance.

Additionally, robotic training apparatus can include the ability toadjust the resistance to simulate different levels of opponent strengthand the ability. Thus, the speed and force applied by the robotictraining apparatus can be tweaked by the user for different levels ofdifficulty. The robotic training apparatus can also be programmed torespond to different combinations of movements and strikes, making itpossible to practice complex techniques and strategies.

Overall, the addition of image processing algorithms, machine learningmodels, and advanced sensors to the robotic training apparatus canprovide a highly interactive and personalized training experience thatmay help fighters improve their technique, increase their overallfitness, and achieve their training goals. With the use of specializedhardware components such as FPGAs and DSPs, the robotic trainingapparatus can be made both affordable and high performing, making itaccessible to a wide range of users.

In certain embodiments, a controller can manually maneuver the robotictraining apparatus. For example, game controllers are known in the art,and any such game controller can be used to maneuver the robotictraining apparatus. The wireless controller can be advantageous when theuser has a partner that would like to put their skills to the test or tojust to add complexity to their training routine. In anotherimplementation, two trainees can fight each other while being far fromeach other and virtually through the robotic trainee apparatus.

Referring to FIG. 3 which discloses another exemplary embodiment of therobotic training apparatus 300 which can only have the robotic arms 325.FIG. 3 shows the robotic training apparatus 300 with a cover 310covering most of the robotic training apparatus 300. Two robotic arms325 can be seen extended outwards from a revolving member 315. Each ofthe robotic arm 325 can include multiple extension members 335 thatconnect to the revolving member 315 through articulating joints 320. Astriking member 350 can be coupled to a terminal extension member i.e.,the extension member at end of the extension members. Both the extensionmember and the striking member can be provided with suitable cushioningto prevent any injury to the hand of the trainee while practicing. Thestriking member 350 can have additional padding resembling ahand-fighting glove. The extension members can be coupled to each otherthrough joint 330 and the first extension member can be coupled to therevolving member 315 through joint 320. Also, it can be seen in FIG. 3are the multiple stepper motors 340 each operably coupled to the joints330 of the robotic arm. Each joint of the robotic arm 325 can beindependently actuated to resemble a natural punching action as well assimulate a range of combat techniques. In one implementation, the toothof the stepper can be attached to one piece and the motor can beattached to the other piece at the joint. As the stepper turns, theattached piece will turn as well. All the motors are attached to thesame control unit that controls the operation of the actuation mechanismand the motors to simulate the desired movement. For example, 30 degreesstepper, 45 degrees stepper, and 25 degrees stepper.

Referring to FIG. 4 which shows the robotic training apparatus 300 withthe cover 310 removed to illustrate the cushioning pads 360. Thecushioning pads allow the robotic training apparatus 300 to be punchedfor practicing like a punching bag. FIG. 5 shows the robotic trainingapparatus 300 with the cushioning pads 360 removed to illustrate thevertical frame 370 and the revolving member 315. Referring to FIG. 6 ,the vertical frame 370 can include the telescoping frame members 420 and410 that may allow increasing and decreasing the height of the revolvingmember 315.

In certain embodiments, the disclosed robotic training apparatus can beused by all age groups, pro athletes, and ordinary people that just wantto get in shape and be fit. Novice users can learn the art of combatsports and martial skills and can also improve their defensive skills attheir own pace and in the privacy of their homes with or without anyexternal aid from a coach. The users can be provided with new videos ofnew training exercises by fitness professionals. Workers who have nofixed dedicated time for professional training from coaches or expertscan easily learn in the privacy and comfort of their homes. Thedisclosed robotic training apparatus can provide a gamified trainingenvironment that users can enjoy, especially the kids. Users can workout anytime and pause in between, take a break, and can save heavily ontraining costs. Pro fighters can extremely benefit from the robotictraining apparatus that can improvise their skills and learn newtechniques.

In certain implementations, the robotic training apparatus can be madeto resemble human beings. For example, suitable padding can be appliedto provide the shape of a human, including a human face.

In one implementation, the disclosed method can provide for a sparringmode in which the users can put their skills to the test by usingwearable sensors/AI technology that will communicate directly to therobotic training apparatus which will allow user to go into freesparing. The robotic training apparatus can know users' location at alltimes in its model space borders, it can rotate 360 degrees, effectivelylocate the head and the hands in three-dimensional space, the robotictraining apparatus can attack like a real opponent knowing thedeficiencies of the trainee techniques and skills.

In another embodiment, disclosed methods can provide for a gaming modein which the users also have access to a list of elite fighters thatthey can choose from to virtually fight, and the robotic trainingapparatus can imitate the selected character's fighting style. Therobotic training apparatus can generate similar sound effects asprogramed in the training materials. The gamers can spar with each otherthrough the disclosed robotic training apparatus. If someone is in AbuDhabi and another user is in Europe, they can remotely spar with eachother using the disclosed robotic training apparatus. This isaccomplished using a communication module that allows the movements ofthe first player to be transmitted in real-time to a second robotictraining apparatus located at a remote location. The communicationmodule can be stored in the memory. FIG. 7 shows two robotic trainingapparatuses connected through a network 730. The first robotic trainingapparatus can be identical to the second robotic training apparatus,connected with each other by the communication module.

The network can be a wired or wireless connection, such as Ethernet,Wi-Fi, or Bluetooth, and can be configured to transmit the data in nearreal time between the robotic training apparatuses. The data can bereceived by the control unit and can be interpreted to determine themovements of the trainee, wherein such movements can be implemented bythe robotic training apparatus for mimicking the player. This enablesthe two players to fight with each other remotely.

For example, during sparring, the first fighter can strike the firstrobotic training apparatus in a normal manner, and the first robotictraining apparatus can detect and recognize the movements usingdifferent sensors, such as image processing camera and ultrasonicsensors. The movements can be encoded by the control unit andtransmitted in near real time to the second robotic training apparatus,which will mimic the received movements in real-time, enabling thesecond fighter to spar with the first fighter as if they were in thesame location. The movements of the second player as detected by thesecond robotic training apparatus are transmitted to the first robotictraining apparatus.

Overall, the robotic training apparatus for remote sparring provides aninnovative and effective way for fighters to train and spar with eachother, even when two persons are in different parts of the world. Theuse of the same robotic training apparatus ensures consistency andfairness, while the communication module and second robotic trainingapparatus enable a realistic sparring experience. The system isversatile and can be used for different types of sparring, such asboxing, kickboxing, and mixed martial arts.

The robotic training apparatus can also include technologies of virtualreality (VR) and augmented reality (AR). The VR and AR features mayprovide an immersive experience for the users, allowing them to train ina simulated environment that closely mimics real-life scenarios. Toenable the VR and AR capabilities, the disclosed apparatus can include ahigh-resolution camera, depth sensors, and other sensors to capture theuser's movement and position in real-time. The data from the sensors canbe processed by a powerful CPU/GPU, which will render the virtualenvironment in real-time. The user may wear suitable VR or AR headset,which displays the virtual environment and overlays the real environmentwith virtual objects.

The virtual environment can be customized to match the user's trainingneeds, such as different fighting styles, opponents, and scenarios. Thevirtual opponents can be programmed to mimic the movement and behaviorof real opponents, providing the user with a realistic trainingexperience. The system can also simulate different environments, such asdifferent lighting conditions, weather, and terrain, to further enhancethe training experience. In certain implementations, the robotictraining apparatus may not appear like a machine but a real human to theuser using virtual reality.

The VR and AR features can be integrated with the existing imageprocessing and movement detection capabilities of the robotic trainingapparatus. The system will be able to detect the user's movement andprovide real-time feedback on technique and performance. The VR and ARfeatures can also be used for post-training analysis, allowing the userto review their training sessions and identify areas for improvement.

To enhance the user's experience, the system can also include hapticfeedback devices, such as gloves or vests, which can provide tactilefeedback during training. For example, if the user lands a punch on avirtual opponent, the haptic device can provide a physical sensation tosimulate the impact. It is understood that only a sensation is provided,and the disclosed apparatus and system is safe for use.

The addition of VR and AR capabilities to the robotic training apparatusprovides a highly immersive and customizable training experience for theuser. The system can be used for a wide range of training needs,including fighting, fitness, and rehabilitation. The combination ofimage processing, movement detection, and VR/AR technology can providethe user with a comprehensive and effective training solution.

In certain implementation, the disclosed system can also provide forautomated scoring of the performance of the trainee, player, and thelike user. The disclosed system can utilize advanced AI technology andhigh-resolution cameras to analyze and evaluate trainee/player/fightermovements, techniques, and performance during training/fights. Judgesand referees can use the system to make informed decisions on the winnerof a fight in a variety of settings, including the octagon, ring, oreven street fights.

The system can receive video feed through a set of high-resolutioncameras 750 strategically placed around the fighting area to capture acomprehensive view of the fighters and their movements. The cameras areconnected to the control unit and suitable CPU/GPU, such as specializedprocessors FPGAs and DSPs for real-time image processing andrecognition. The control unit can be programmed with advanced algorithmsfor detecting and identifying different fighter movements andtechniques, such as jabs, hooks, uppercuts, crosses, leg kicks,takedowns, and submission attempts. The algorithms are trained using alibrary of thousands of real live fights and training sessions, whichenables them to recognize and identify different types of movements withhigh accuracy.

The system may also be equipped with sensors and other peripherals todetect and track various aspects of the fight, such as the number ofpunches and kicks landed and missed, control time, takedown attempts,and takedown defense. These sensors and peripherals can include pressuresensors on the fighting mat, motion sensors on the fighters, andmicrophones to detect the sound of impacts.

The data captured by the cameras and sensors are processed and analyzedin real-time by the processing unit, which generates a comprehensive anddetailed report on the fighters' performance. The report can include abreakdown of the number of punches and kicks landed and missed, controltime, takedown attempts, and takedown defense, as well as other keymetrics such as the fighters' movement, offensive and defensivetechniques, and overall performance.

The report can be accessed by judges and referees on a user-friendlyinterface, such as on a tablet or screen, that displays the fight inreal-time and provides detailed feedback on the fighters' performance.The interface can also include a live view of the fight and thefighters' movements, as well as real-time feedback on the fighters'technique and performance.

Referring to FIGS. 8-10 that show an alternate embodiment of thedisclosed training apparatus 800. The robotic training apparatus caninclude a robotic trainer that has arms and legs. FIG. 8 shows the armsand frame of the robotic trainer. The arms include multiple joints for adesired degree of freedom. The joints can be actuated by high precisionmotors that can be integrated with the joints and operably coupled tothe control unit of the disclosed training apparatus. The actuationmechanism can be configured in a variety of ways, some examples areexplained below. In certain embodiments, the arms can be detachable anda different set of arms can be installed.

In certain implementations, a series of strings and pulleys methods canbe used. The series of strings and pulleys method involves connectingeach joint in the arm or leg formation to two strings on a linkage. Onestring would be responsible for extension and the other would beresponsible for retraction. The strings would be attached to the otherside of the motor using an adapter. As the motor spins, it will pull onone string and relax the other, causing a movement in the direction ofthe pulled string. Each string may have its own guided path using hollowpins and pulleys. The motors may sit outside the body of the robotictrainer, and the strings can extend to reach the motors. In one case,the motors may sit in a sound-insulated box, which can absorb the noiseof the motors.

In another implementation, a non-concentric central motor for centralrotation method can be employed. The non-concentric central motor methodinvolves moving the central motor off the axis of rotation to the backof the bag. The motor may have a gear on the head of the motor thatconnects to a set of gears mounted on the structural pole of the robotictrainer. As the motor spins, the gears will rotate, causing the robotictrainer to rotate. The non-concentric central motor provides analternative method of central actuation that allows for more designflexibility.

The use of springs as a combination with the metal wires may beimplemented in the series of strings and pulleys method. This can helpkeep the tension balanced at both sides of the motor and decrease theshock effect when the motor pulls on one string and relaxes the other.The springs will also help to absorb any sudden or unexpected movementsfrom the fighter, ensuring that the robotic training apparatus remainsstable and safe during training sessions.

The wrist rotation feature may allow the robotic training apparatus tosimulate realistic punches and movements. This feature may involveadding an additional motor or mechanism to the wrist joint of the armformation. The motor or mechanism can be controlled by the processingunit and will be able to rotate the wrist joint in various directions.This may allow the robotic trainer to deliver realistic punches andmovements, such as hooks and uppercuts. The rotation mechanism can becontrolled by the fighter or trainer through the user interface,allowing them to customize the training experience to their specificneeds and preferences.

In addition to the above features, the use of advanced materials andmanufacturing techniques can be incorporated in the design of therobotic training apparatus. The arm and leg formations can be made oflightweight yet durable materials such as carbon fiber or aluminumalloys, allowing for faster movements and greater flexibility. Thejoints and bearings can also be designed to reduce friction and wear,increasing the lifespan of the apparatus, and ensuring that it operatessmoothly and accurately during training sessions.

Overall, the combination of the series of strings and pulleys methodwith the use of springs, as well as the addition of the wrist rotationfeature and the use of advanced materials and manufacturing techniques,can enhance the functionality and realism of the robotic trainingapparatus. These features will provide a more personalized and effectivetraining experience for fighters and trainers alike, while also ensuringsafety and durability for long-term use.

In certain implementations, the robotic trainer can be built on a movingbase structure. This may allow the robotic trainer to tilt forward andbackward and side-to-side to allow the robotic trainer to parry anddodge the punches. This may allow the robotic trainer to move around theopponent freely like a human opponent. The base could be comprised innumerous way and with the incorporation of various mechanisms.

In one implementation, the moving base can include an electronic rollingball design that includes a base structure comprised of one large ballthat is controlled and balanced by three wheels attached to threemotors. The mechanism is equipped with tilt sensors to measure thedesired tilt commanded by the computer and also to detect any externalcaused tilt and auto-balance the punching bag. The wheels are attachedto the top of the ball at a 120-degree angle apart and as they rotate,they rotate the main large ball and that will cause the bag to eithertranslate or tilt as desired. The robotic training apparatus can also beequipped with a home base that will allow the device to balance and stayin the upright position when all electronic devices are turned off. Thehome base will allow the training robot to charge automatically when notin use and will have an auto-return home function. The robotic trainingapparatus can utilize the trackers and sensors that are used to monitorthe fighter's movement to send commands to the base to either movecloser or far away from the fighter/trainee.

In one implementation, the moving base can include a large moving basethat is larger than the overall diameter of the robotic trainer. Thebase may have a two-wheel design with a differential so it can moveforward and backward. The differential will lock the rotation of onewheel and allow the second wheel to spin freely and thus rotate theentire bag. This may allow the robotic trainer to move freely in alldesired directions. The two-wheel base design can also incorporate thereturn home feature to charge the apparatus.

In one implementation, the moving base can include a tilting fixturedesign. This design allows the robotic training apparatus to parry anddodge punches while remaining stationary. The robotic training apparatuscan be attached to a motorized fixture. The fixture arm can connect tothe apparatus from the back with a connection plate. The connectionplate may be on a swivel joint allowing tilt. The robotic trainer can besuspended in the air and only be held at the connection plate. The armconnecting to the plate can be motorized to allow extension anddetraction. The swivel joint on the plate can also have a separate motorallowing tilt. This way, the robotic trainer can tilt/move lower orhigher or move side-to-side or a combination of any of these movementssimultaneously.

In certain implementations, the pneumatic or hydraulic system can use asystem of cylinders, valves, and pumps to control the movement of thestand. The system can be configured to move the stand in differentdirections or to duck in response to the fighter's movements. The systemcan be controlled using a remote control or a computer program,providing a high level of precision and control. The system is comprisedof a central hydraulic or pneumatic power unit that generates thepressure needed to operate the system. The power unit includes a motor,pump, reservoir, and valves that control the flow of the hydraulic fluidor air. The system can also include multiple cylinders or actuators thatare connected to the power unit through a network of hoses or tubes. Thecylinders or actuators are positioned strategically around the stand toallow for movement in different directions. Each cylinder or actuatorincludes a piston that is connected to a rod. When hydraulic fluid orair is forced into the cylinder or actuator, the piston moves, and therod extends or retracts, causing the stand to move.

The system can be controlled using a variety of input devices, includinga remote control or a computer program. The input devices send signalsto the valves that control the flow of the hydraulic fluid or air to thecylinders or actuators. The system can be programmed to respond tospecific movements or sequences of movements, providing a highlycustomized training experience for the fighter.

In certain implementation, the moving base can include a tilting fixturedesign that involves using a series of electromagnets or permanentmagnets to move the stand in response to the fighter's movements. Thestand can be equipped with sensors that detect the fighter's movementsand send signals to the magnets, causing them to adjust their position.

The magnetized stand is comprised of a base and a stand that areconnected by a joint that allows for movement in multiple directions.The base contains a network of electromagnets or permanent magnets thatare positioned around the perimeter of the stand. The magnets can beenergized or de-energized in specific patterns to create movement indifferent directions. The stand can be equipped with sensors that detectthe fighter's movements and send signals to the magnets, causing them toadjust their position. The sensors can include a variety oftechnologies, including image processing and proximity sensors. Thesystem can be programmed to respond to specific movements or sequencesof movements, providing a highly customized training experience for thefighter. The magnetized stand can be powered by a battery or a powersupply, and the electromagnets can be controlled using a microcontrolleror other control system. The stand can be made from a variety ofmaterials, including steel, aluminum, or composite materials, dependingon the desired weight and durability. The magnets can be arranged invarious configurations to provide the desired movement and duckingcapabilities.

In one implementation, a mobile application for a smartphone can beprovided. The training material can be presented to the user through theapplication, wherein the training material comprises live sessions withcoaches. Moreover, the application can use the camera of the smartphone. The invention allows analyzing video feed captured through cameraof the smart phone, wherein the video is of user getting trained with apunching bag or the disclosed training robot. The video can also be ofthe user fighting another user. The application can include suitableimage recognition algorithms and artificial intelligence to recognizeboxer movements. The application can also provide for the scoring offight or training.

While the foregoing written description of the invention enables one ofordinary skill to make and use what is considered presently to be thebest mode thereof, those of ordinary skill will understand andappreciate the existence of variations, combinations, and equivalents ofthe specific embodiment, method, and examples herein. The inventionshould therefore not be limited by the above-described embodiment,method, and examples, but by all embodiments and methods within thescope and spirit of the invention as claimed.

What is claimed is:
 1. A robotic training apparatus comprising: a control unit; a robotic trainer, the robotic trainer comprising: an upstanding frame, a pair of robotic arms, each robotic arm of the pair of robotic arms comprises: one or more extension members, a striking member operably coupled to a terminal extension member of the one or more extension members, and a plurality of joints operably coupling extension members of the one or more extension members, the terminal extension member, and the striking member, and an actuation mechanism for actuating the robotic trainer, the actuation mechanism operably coupled to the control unit, wherein the control unit is configured to present training material from a library of training materials on a display coupled to the control unit and implement the training material on the robotic trainer by the actuation mechanism; and a plurality of sensors operably coupled to the control unit.
 2. The robotic training apparatus according to claim 1, wherein the striking member is provided with cushioning pads.
 3. The robotic training apparatus according to claim 1, wherein the actuation mechanism comprises stepper motors coupled to each joint of the plurality of joints.
 4. The robotic training apparatus according to claim 1, wherein the plurality of sensors comprises user sensors, the user sensors configured to be worn by a user practicing with the robotic training apparatus, wherein the control unit is configured to detect spatial body movements of the user through the user sensors for an interactive training session.
 5. The robotic training apparatus according to claim 4, wherein the plurality of sensors further comprises environmental sensors configured to detect an immediate environment of the robotic trainer, the environmental sensors comprise one or more cameras and one or more infrared sensors or ultrasonic sensors.
 6. The robotic training apparatus according to claim 5, wherein the control unit is configured to analyze data from the one or more cameras using image recognition algorithms to track changes in projection of the user and the robotic trainer in a three-dimensional space.
 7. The robotic training apparatus according to claim 6, wherein the control unit is configured to generate a virtual environment for the user based on the analyzed data.
 8. The robotic training apparatus according to claim 5, wherein the environmental sensors further comprise pressure sensors mounted on a floor and configured to detect footsteps of the user.
 9. The robotic training apparatus according to claim 1, wherein robotic trainer further comprises a movable base, the movable base configured to allow the robotic trainer to move on a floor.
 10. The robotic training apparatus according to claim 7, wherein the control unit is further configured to remotely couple to another second robotic training apparatus for remote sparring between two users, the another second robotic training apparatus same as the robotic training apparatus.
 11. A method for training, the method comprises: providing a robotic training apparatus comprising: a control unit; a robotic trainer, the robotic trainer comprising: an upstanding frame, a pair of robotic arms, each robotic arm of the pair of robotic arms comprises: one or more extension members, a striking member operably coupled to a terminal extension member of the one or more extension members, and a plurality of joints operably coupling extension members of the one or more extension members, the terminal extension member, and the striking member, and an actuation mechanism for actuating the robotic trainer, the actuation mechanism operably coupled to the control unit, wherein the control unit is configured to present training material from a library of training materials on a display coupled to the control unit and implement the training material on the robotic trainer by the actuation mechanism; and a plurality of sensors operably coupled to the control unit.
 12. The method according to claim 11, wherein the striking member is provided with cushioning pads.
 13. The method according to claim 11, wherein the actuation mechanism comprises stepper motors coupled to each joint of the plurality of joints.
 14. The method according to claim 11, wherein the plurality of sensors comprises user sensors, the user sensors configured to be worn by a user practicing with the robotic training apparatus, wherein the control unit is configured to detect spatial body movements of the user through the user sensors for an interactive training session.
 15. The method according to claim 14, wherein the plurality of sensors further comprises environmental sensors configured to detect an immediate environment of the robotic trainer, the environmental sensors comprise one or more cameras and one or more infrared sensors or ultrasonic sensors.
 16. The method according to claim 15, wherein the control unit is configured to analyze data from the one or more cameras using image recognition algorithms to track changes in projection of the user and the robotic trainer in a three-dimensional space.
 17. The method according to claim 16, wherein the control unit is configured to generate a virtual environment for the user based on the analyzed data.
 18. The method according to claim 15, wherein the environmental sensors further comprise pressure sensors mounted on a floor and configured to detect footsteps of the user.
 19. The method according to claim 11, wherein method further comprises: providing a user interface on a smartphone, wherein the user interface is configured to: permit a user to interact with the robotic training apparatus; present training material to the user, wherein the training material comprises live sessions with coaches.
 20. The method according to claim 17, wherein the control unit is further configured to remotely couple to another second robotic training apparatus for remote sparring between two users, the another second robotic training apparatus same as the robotic training apparatus.
 21. A method for automated scoring of a performance of a user as a trainee, comprising: detecting images of the trainee by AI technology and high-resolution cameras to analyze and evaluate the trainee movements, techniques, and performance during a training session or a fight session; and transmitting images to a third party in real time to receive a score for each session. 